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四足机器人砂砾地面对角行走控制方法 被引量:2
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作者 程品 罗欣 顾瀚戈 《装备制造技术》 2014年第4期8-12,共5页
为解决四足机器人在砂砾地面上对角行走容易失稳的问题,提高机器人对松软和凹凸不平地面的适应性,在位置控制的基础上提出了一种机身姿态角的调整策略,并在机器人对角行走的过程中采取了一种变阻抗参数的阻抗控制方法。最后在实际的砂... 为解决四足机器人在砂砾地面上对角行走容易失稳的问题,提高机器人对松软和凹凸不平地面的适应性,在位置控制的基础上提出了一种机身姿态角的调整策略,并在机器人对角行走的过程中采取了一种变阻抗参数的阻抗控制方法。最后在实际的砂砾地面进行了四足机器人对角行走实验,实验结果证明这种控制方法和调整策略对于四足机器人对角行走在砂砾地面上具有较好的控制效果。 展开更多
关键词 四足机器人 对角行走 阻抗控制 砂砾地面
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Effects of Roughness Elements Distribution on Overland Flow Resistance 被引量:3
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作者 YE Chen LIU Xing-nian WANG Xie-kang 《Journal of Mountain Science》 SCIE CSCD 2015年第5期1145-1156,共12页
Roughness elements are various in a mountain area; they include gravel and ground surface vegetation that often result in surface friction drag to resist overland flows. The variation and characteristics of flow resis... Roughness elements are various in a mountain area; they include gravel and ground surface vegetation that often result in surface friction drag to resist overland flows. The variation and characteristics of flow resistance strongly impact the overland flow process and watershed floods. In view of the universal existence of natural vegetation, such as Chlorophytum malayense(CM) or Ophiopogon bodinieri(OB), and the sand-gravel bed of the river channel, it is important to understand the role of different types of roughness elements in flow resistance. This study was performed to investigate and compare through flume experiments the behaviors of overland flow resistance by the reaction of multi-scale configuration of different roughness elements. The result showed that the resistance coefficient gradually reduced versus the increase of flow rate in unit width and tended to be a constant when q = 3.0 l/s.m, Fr = 1.0, and Re = 4000 for slopes of 6 to 10 degrees. The gap of the vegetated rough bed and the gravel rough bed is limited to the same as the gap of the two types of vegetation, CM and OB. It was noted that the vegetation contributed to the increase in form resistance negatively and may lead to the mean resistance on decrease. To classify the flow pattern, the laminar flows were described by DarcyWeisbach's equation. In the study the f-Re equation of vegetated bed was developed with f ?5000 Re.The friction coefficient for laminar flows can be regarded as the critical value for identifying the transformation point of the flow pattern. 展开更多
关键词 Overland flow Roughness element Flowresistance Reynolds number Chlorophytummalayense Ophiopogon bodinieri
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The Grouting Influence of Shield Tunnelling on Sand-Gravel Soil
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作者 於昌荣 周松 黄醒春 《Journal of Donghua University(English Edition)》 EI CAS 2009年第5期467-473,共7页
Sand-gravel soil may not be suitable for structure use or excavation use as a result of their permeability and low-intensity.It may cause serious damage to the upper part of the structure for its considerable stress.H... Sand-gravel soil may not be suitable for structure use or excavation use as a result of their permeability and low-intensity.It may cause serious damage to the upper part of the structure for its considerable stress.How to assess and control the deformation of the ground is the main purpose of the soil reinforcement technology.Grouting is a method commonly used to meet those requirements.This study is designed to investigate the effects on shield construction in the sand-gravel stratum. 展开更多
关键词 shield tunnelling sandgravel soil groundmovement GROUT
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